JPH07204360A - Spherical body motion mechanism - Google Patents

Abstract

PURPOSE:To realize a spherical body motion mechanism which enables the performing of a rolling motion in an arbitrary direction on a plane. CONSTITUTION:Force is transmitted to an interval wall surface of a spherical body 1 through a shaft 3 and a friction source 4 mounted thereon from an actuator 2 driven by a control system of energy sources 5 and 6. A caster 7, the actuator 2 and a support body supporting them move as a whole on the internal wall surface of the spherical body 1 smoothly by the friction force with the caster 7 and a ball rolls with the shifting of the center of gravity inside the ball caused eventually. The direction of the rotation of the two actuators 2 in the ball is controlled independently by the control system 6. If so, the spherical body 1 can advance, retract or turn clockwise or counterclockwise and thus, accomplishes a rolling motion freely in all directions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion mechanism which can freely move in all directions of 360 degrees on a plane. It can be used for in-pipe inspections and repairs where the four-wheel motion mechanism cannot be used, or for fields such as playful vehicles and toys.

[0002]

2. Description of the Related Art Most of the motion mechanism as a vehicle on which a human actually rides, the motion mechanism as remotely operated, and the motion mechanism as a toy are those using two or four wheels. There was nothing.

[0003] Further, conventionally, most of the balls have been used in such a manner that they make a rolling motion by giving an external force, and there has been no one that makes a rolling motion by itself without being given an external force.

[0004]

A movement mechanism using wheels requires a handle to be turned back in order to change its course, and therefore requires a space larger than the space occupied by the movement mechanism to change its course. You cannot change course if you do not have enough room. INDUSTRIAL APPLICABILITY The present invention, for example, inspection of pipes that intersect intricately such as water pipes and gas pipes in buildings,
It is intended to eliminate the above-mentioned drawbacks of the motion mechanism using the wheel, which is disadvantageous for repair work and the like.

Further, in the field of entertainment and toys, most of the conventional moving toys utilize a motion mechanism using wheels, and the movement is mechanical. By applying the spherical motion mechanism of the present invention to a toy, a unique animal movement can be made, and by mounting a sensor or artificial intelligence, an artificial pet or the like can be realized.

[0006]

According to the present invention, an actuator or an energy source is provided inside a sphere, the output of the actuator moves inside the sphere, and the resulting center of gravity movement inside the sphere causes the sphere to roll.

[0007]

[Function] When the friction sources are attached to the shafts of the pair of left and right actuators supported inside the sphere or the shafts of the speed reducer connected to the actuators and the energy is supplied to the actuators, the friction sources and the inner wall surface of the sphere The movement mechanism moves on the inner wall surface of the sphere due to the frictional force generated between them, and the sphere rolls due to the movement of the center of gravity of the entire sphere.
There are four combinations of rotation directions of the two shafts that transmit the force to the inner wall surface of the sphere, and forward, backward, right rotation, and left rotation can be performed with these combinations.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment will be described below with reference to the accompanying drawings. 1 is a sphere on which the motion mechanism of the present invention is installed, 2 is an actuator such as a motor or engine, 3 is an actuator of 2 and a shaft of a speed reducer attached thereto, 4 is a rubber tube or a rubber tire attached to the shaft of 3. Such as a friction source, 5 supplies energy to the actuator, such as a power source and fuel, 6 an electric circuit for driving or stopping the actuator, a control system such as a throttle or a brake, 7 a main movement The mechanism is a caster for smoothly moving on the inner wall surface of the sphere 1, and 8 is a support for supporting 2 to 7.

When energy is supplied from the energy source of 5 to the actuator of 2 through the control system of 6, the shaft of 3 rotates, and the force is transmitted to the inner wall surface of the sphere of 1 through the friction source of 4 attached to the shaft. . Then, 2 to 8 move along the wall surface of sphere 1
The center of gravity of the entire sphere moves, and as a result, the sphere rolls. If the directions of rotation of the two actuators in the sphere are controlled independently by the control system of 6, the sphere will move forward,
It can move backward, rotate right, rotate left, etc., and perform rolling motion freely in all directions.

Furthermore, if sensors such as a sound sensor and a microcomputer are installed in the control system of 6,
For example, the sphere can be remotely controlled by a sound such as clapping hands.

[0011]

When the course is changed in the spherical movement mechanism of the present invention, the movement mechanism only needs to change its direction inside the spherical body, and can move in all directions 360 degrees on the plane from the stopped state. Therefore, it does not require an extra space for turning back the steering wheel and the like which is required when changing the course of the vehicle by a four-wheel motion mechanism or the like. Therefore, as a small sphere motion mechanism, it can be used for inspection and repair work in a complicated intersecting pipe such as a water pipe or a gas pipe in a building, which is disadvantageous in the change of course in the conventional motion mechanism using wheels.

Conventionally, a ball is a play tool that a person applies by exerting an external force, such as throwing, hitting, bouncing, or kicking, but it voluntarily does not exert an external force. The present invention creates a new concept of sphere, which is to be exercised, and can be used for toys. Moreover, an artificial pet can be realized by mounting a sensor or a microcomputer.

Further, as a large-sized sphere movement mechanism that can ride a human, it can be applied to a vehicle for playing purposes on the water or on the flat ground.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a spherical movement mechanism of the present invention.

FIG. 2 is a side view showing an embodiment of the spherical movement mechanism of the present invention.

[Explanation of symbols]

 1 sphere 2 actuator 3 shaft 4 friction source 5 energy source 6 control system 7 caster 8 support

Claims (1)

[Claims] 1. A spherical object is provided with an actuator and an energy source for driving the same inside a spherical object, and the spherical body rolls and moves due to the movement of the center of gravity inside the spherical body caused by the movement of the actuator inside the spherical body by the output of the actuator. Mechanism to do.